CN108081313A - Robot captures mechanism - Google Patents
Robot captures mechanism Download PDFInfo
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- CN108081313A CN108081313A CN201711352381.XA CN201711352381A CN108081313A CN 108081313 A CN108081313 A CN 108081313A CN 201711352381 A CN201711352381 A CN 201711352381A CN 108081313 A CN108081313 A CN 108081313A
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- bar
- bar portion
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- bar unit
- pushing
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- Mechanical Engineering (AREA)
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Abstract
The present invention provides one kind and is related to robotic technology field, and mechanism is captured more particularly, to a kind of robot.The robot, which captures mechanism, to be included pushing bar unit, two hand units and chassis；Described two hand units are hinged respectively with the pushing bar unit, and are symmetrical arranged along the longitudinal axis center line of the pushing bar unit；The upper surface on the chassis is connected with swivel pin, and the swivel pin can be rotated compared with the chassis；The some or all of of the hand unit can be rotated with the swivel pin, and can be slided compared with the swivel pin；The pushing bar unit slides over the slide bar unit being fixed on the chassis；The pushing bar unit can posteriorly or anteriorly be moved along its longitudinal direction on the slide bar unit, so that described two hand units are gathered forward or backward in camber line.It is an object of the invention to provide a kind of robots to capture mechanism, to improve the flexibility of robot, and then captures, attack other side's life tower, to obtain the triumph of match.
Description
Technical field
The present invention relates to robotic technology fields, and mechanism is captured more particularly, to a kind of robot.
Background technology
Development, the continuous renewal of education ideas advanced by leaps and bounds with intellectual technology, as combining information technology, electronics
The robot technology of the frontier science and technology such as engineering, mechanical engineering, control theory, sensing technology and artificial intelligence also changes for education
Leather contributes the strength of oneself.In order to promote the development of robot technology, training student innovation ability is successive in worldwide
There is a series of robot competition.
Robot Dota dual meets are one of a series of robot competitions, are red, Lan Liangfang robots are providing
Attacking on place, anti-confrontation match.During the games, the Duo Tai robots of both sides to surmount obstacles, accuse each other, attack other side
Life tower, the side to make a good score win.
Therefore, it is necessary to a kind of flexible robots to capture mechanism, with capture, attack other side's life tower, and then is competed
Triumph.
The content of the invention
It is an object of the invention to provide a kind of robots to capture mechanism, to improve the flexibility of robot, and then capture,
Attack other side's life tower, to obtain the triumph of match.
The present invention provides a kind of robots to capture mechanism, including pushing bar unit, two hand units and chassis；It is described
Two hand units are hinged respectively with the pushing bar unit, and are symmetrical arranged along the longitudinal axis center line of the pushing bar unit；
The upper surface on the chassis is connected with swivel pin, and the swivel pin can be rotated compared with the chassis；The arm
The some or all of of unit can be rotated with the swivel pin, and can be slided compared with the swivel pin；
The upper surface on the chassis is fixedly connected with slide bar unit；The pushing bar unit slides over the slide bar unit
On；
The bar unit that pushes can posteriorly or anteriorly be moved along the longitudinal direction of the pushing bar unit on the slide bar unit
It is dynamic so that the hand unit is slided along the swivel pin and drives the swivel pin rotation, with drive the hand unit around
The push strut finite element rotation, so that described two hand units are gathered forward or backward in camber line.
Further, the connection for pushing bar unit and including the first bar portion and being arranged on the top of first bar portion
Portion；First bar portion is slided on the slide bar unit, and the connecting portion is respectively articulated with described two hand units；
The connecting portion is provided with the first groove, and first groove is connected with first bar portion；The connection
Portion can be slided along the longitudinal direction of the pushing bar unit in first bar portion；
The connecting portion is provided with the second groove；Described first bar portion the upper surface of is provided with the second bar portion, second bar
Portion can be moved up and down compared with first bar portion；
Second bar portion can be moved downward to inside first bar portion, so that the connecting portion can be along first bar
It slides in portion；And second bar portion can move upward out first bar portion, second groove be abutted, so that the company
Socket part pushes the moved longitudinally back of bar unit with first bar portion along described.
Further, the slide bar unit includes the first supporting item being fixedly connected with the chassis；
Be provided with the first spring between first bar portion and first supporting item, the connecting portion with described first
Second spring is provided between support member；
It is described push bar unit along it is described pushing bar unit it is moved longitudinally back when, first spring and described second
Spring has the advanced longitudinally forward trend for making first bar portion and the connecting portion respectively along the pushing bar unit.
Further, the slide bar unit further includes the second supporting item and guide rod；Second supporting item and the chassis
It is fixedly connected；
The guide rod is fixedly connected with first supporting item, and the other end is fixedly connected with second supporting item；
First bar portion is slided on the guide rod.
Further, the pushing bar unit further includes the first connector and stop block；
Described first connector one end is hinged second bar portion, and the other end is hinged the stop block；First connection
The centre of part is hinged first bar portion；
First bar portion is provided with the 3rd groove, and the stop block can be compared with first bar along the 3rd groove
Portion slides up and down；
The upper surface on the chassis is fixedly connected with non return part；It is provided at the top of the non return part and the stop block phase
The sawtooth of adaptation；The sawtooth is used to prevent the stop block along the advanced longitudinally forward of the pushing bar unit；
Second bar portion is for when being moved down compared with first bar portion, the stop block to be compared with described first
Bar portion is moved upward in the 3rd groove；And second bar portion is used to move up compared with first bar portion
When, the stop block is moved downward to compared with first bar portion and is contacted with the non return part.
Further, the 3rd spring, the 3rd spring tool are provided between first bar portion and second bar portion
There is the trend that second bar portion is made to be upwardly away from first bar portion.
Further, the hand unit includes planar pivot four-bar mechanism and postbrachium；The planar pivot four-bar mechanism
Including the 3rd bar portion and the 4th bar portion；One end of 3rd bar portion is hinged the connecting portion, and the other end is hinged the postbrachium；Institute
The one end for stating the 4th bar portion is hinged the connecting portion, and the other end is hinged the postbrachium；3rd bar portion passes through the swivel pin,
And it can be rotated with the swivel pin.
Further, the quantity of the planar pivot four-bar mechanism is two；Two planar pivot four-bar mechanisms are put down
Row, and the connecting portion and the postbrachium are connected respectively.
Further, the hand unit further includes forearm and planar linkage mechanism；The forearm is hinged with the postbrachium；
The planar linkage mechanism includes the 5th bar portion and the 6th bar portion；One end of 5th bar portion it is hinged it is described before
Arm, the other end are hinged the 6th bar portion；
The postbrachium is provided with arm slot, and the notch of the arm slot is towards the pushing bar unit, and the arm slot is along described
Postbrachium extends laterally；
The shape of 6th bar portion is adapted with the arm slot, and can be moved to along the extending direction of the arm slot described
In arm slot so that the forearm around the postbrachium towards the push strut finite element rotation.
Further, the 4th spring is provided between the 6th bar portion and the postbrachium, the 4th spring has order
6th bar portion removes the trend of the arm slot.
Robot provided by the invention captures mechanism, is slided over by pushing bar unit on slide bar unit, so as to push strut
Unit is moved compared with slide bar unit, and then is pushed bar unit and moved compared with chassis；It can be along pushing by pushing bar unit
The longitudinal direction of bar unit is posteriorly or anteriorly moved on slide bar unit, so that hand unit is slided along swivel pin and drives swivel pin certainly
Turn, to drive hand unit around push strut finite element rotation, and then two hand units is made to gather forward or backward in camber line；With reality
In present robot match, push after bar unit is subject to the shock of other side's life tower or other side robot, along slide bar unit to
After move, two hand units is made to gather forward immediately, impact or have in arms other side's life tower, other side robot；Two arms
After unit impacts or has other side's life tower, other side robot in arms, according to the needs of match, pushing bar unit can also be along cunning
Bar unit moves forward, and two hand units is made to gather backward, discharges, unclamp other side's life tower, other side robot, so as to machine
People captures mechanism and performs new instruction, finds new capture target；Capture mechanism of robot mobility is good, and flexibility is strong,
It can be captured well on competition field, impact other side's life tower, other side robot, to obtain the triumph of match.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution of the prior art
Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in describing below
Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor
It puts, can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is the stereogram that robot provided in an embodiment of the present invention captures mechanism；
Fig. 2 is the front view that robot shown in FIG. 1 captures mechanism；
Fig. 3 is the side view (sectional view) that robot shown in FIG. 1 captures mechanism；
Fig. 4 is the partial enlarged view that robot shown in Fig. 3 captures mechanism；
Fig. 5 is the front view for the connecting portion that robot shown in Fig. 2 captures mechanism；
Fig. 6 is the side view (sectional view) of the connecting portion of the capture mechanism of robot shown in Fig. 5；
Fig. 7 is the stereogram of the connecting portion of the capture mechanism of robot shown in Fig. 5；
Fig. 8 is that robot shown in Fig. 2 captures the forearm of mechanism and the sectional view of postbrachium；
Fig. 9 is that robot shown in Fig. 8 captures the forearm of mechanism and the partial enlarged view of postbrachium；
Reference numeral：
1- pushes bar unit；
The first bar portions of 11-；The 3rd grooves of 111-；The 3rd springs of 112-；
12- connecting portions；The first grooves of 121-；The second grooves of 122-；
The second bar portions of 13-；The first connectors of 14-；15- stop blocks；
2- hand units；
21- planar pivot four-bar mechanisms；The 3rd bar portions of 211-；The 4th bar portions of 212-；
22- postbrachiums；221- arm slots；The 4th springs of 222-；
23- forearms；
24- planar linkage mechanisms；The 5th bar portions of 241-；The 6th bar portions of 242-；
3- chassis；31- non return parts；311- sawtooth；
4- swivel pins；5- slide bar units；
The first supporting items of 51-；The second supporting items of 52-；53- guide rods；
The first springs of 6-；61- second springs.
Specific embodiment
Technical scheme is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation
Example is part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill
Personnel's all other embodiments obtained without making creative work, belong to the scope of protection of the invention.
In the description of the present invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Convenient for the description present invention and simplify description rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for description purpose, and it is not intended that instruction or hint relative importance.
In the description of the present invention, it is necessary to illustrate, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
Embodiment
Mechanism is captured referring to a kind of robot shown in Fig. 1-Fig. 9, is present embodiments provided；Fig. 1 is provided in this embodiment
Robot captures the stereogram of mechanism, and wherein Fig. 2 is the front view that the robot captures mechanism, and Fig. 3 catches for the robot
Catch the side view (in order to more clearly show that structure, being shown with sectional view) of mechanism；Fig. 4 captures for robot shown in Fig. 3
The partial enlarged view of mechanism；Fig. 5 is the front view of connecting portion, and Fig. 6 is the side view (sectional view) of connecting portion；Fig. 7 is connecting portion
Stereogram；Fig. 8 is the sectional view of forearm and postbrachium；Fig. 9 is the partial enlarged view of forearm shown in Fig. 8 and postbrachium.
Referring to shown in Fig. 1-Fig. 4, robot provided in this embodiment captures mechanism, including pushing 1, two arm of bar unit
Unit 2 and chassis 3；Two hand units 2 respectively with to push bar unit 1 hinged, and along the longitudinal axis center line pair for pushing bar unit 1
Claim to set.
The upper surface on chassis 3 is connected with swivel pin 4, and swivel pin 4 can be rotated compared with chassis 3；Preferably, chassis 3 is upper
Surface is plane, and the axial line of swivel pin 4 is perpendicular to the upper surface on chassis 3；The some or all of of hand unit 2 can be with hinged
Pin 4 rotates, and can be slided compared with swivel pin 4；Preferably, swivel pin 4 is provided with pin hole, and the extending direction of the pin hole is vertical
In the direction of axis line of swivel pin 4, part hand unit 2 passes through the pin hole, and can be slided along the direction of axis line of pin hole.
The upper surface on chassis 3 is fixedly connected with slide bar unit 5；Bar unit 1 is pushed to slide on slide bar unit 5.
Pushing bar unit 1 can posteriorly or anteriorly move along the longitudinal direction for pushing bar unit 1 on slide bar unit 5, so that hand
Arm unit 2 slides along swivel pin 4 and drives 4 rotation of swivel pin, hand unit 2 to be driven to be rotated around bar unit 1 is pushed, so that two
A hand unit 2 is gathered forward or backward in camber line；When i.e. two hand units 2 are gathered forward or backward in camber line, first extend out
Interior receipts afterwards, so that two hand units 2 capture or discharge other side.
Robot described in the present embodiment captures mechanism, is slided over by pushing bar unit 1 on slide bar unit 5, to push away
Compression bar unit 1 is moved compared with slide bar unit 5, and then is pushed bar unit 1 and moved compared with chassis 3；By pushing 1 energy of bar unit
It is enough posteriorly or anteriorly to be moved on slide bar unit 5 along the longitudinal direction for pushing bar unit 1, so that hand unit 2 is slided simultaneously along swivel pin 4
Drive 4 rotation of swivel pin, with drive hand unit 2 around push bar unit 1 rotate, and then make two hand units 2 forward or to
Gather afterwards in camber line；To realize in robot match, push bar unit 1 and hit be subject to other side's life tower or other side robot
After hitting, moved backward along slide bar unit 5, two hand units 2 made to gather forward immediately, impact or have in arms other side's life tower,
Other side robot；After two hand units 2 impact or have in arms other side's life tower, other side robot, according to the needs of match,
Pushing bar unit 1 can also move forward along slide bar unit 5, and two hand units 2 is made to gather backward, discharge, unclamp other side's life
Tower, other side robot are ordered, new instruction is performed so that robot captures mechanism, finds new capture target；The robot captures
Mechanism mobility is good, and flexibility is strong, can be captured well on competition field, impact other side's life tower, other side robot, to obtain
The triumph that must be competed.
Robot described in the present embodiment captures mechanism, can also by 2 goods clamping of flexible two hand units, into
And it is readily transported cargo；Specifically, push after bar unit 1 is subject to the barrier impacts such as cargo, two hand units 2 immediately to
The barriers such as cargo are had in preceding blessing in arms, then by mobile chassis 3 so that the barriers such as cargo generate displacement；It is moved to purpose
During ground, two hand units 2 discharge, unclamp the barriers such as cargo backward.
Referring to shown in Fig. 1-Fig. 7, specifically, pushing bar unit 1 includes the first bar portion 11 and is arranged on the first bar portion 11
Top connecting portion 12；First bar portion 11 is slided on slide bar unit 5, so that the first bar portion 11 can be moved along slide bar unit 5；
Connecting portion 12 is respectively articulated with two hand units 2 namely two hand units 2 are rotated rotating around connecting portion 12.
Connecting portion 12 is provided with the first groove 121, and the first groove 121 is connected with the first bar portion 11；Connecting portion 12 can
It is slided along the longitudinal direction for pushing bar unit 1 in the first bar portion 11；Preferably, longitudinal direction of first groove 121 along connecting portion 12
Extension and both ends open, the notch of the first groove 121 downward, so that connecting portion 12 is arranged on the top of the first bar portion 11；It is optional
, the cross section of the first groove 121 is rectangle, correspondingly, the cross section for the first bar portion 11 being connected with the first groove 121
For rectangle.
Connecting portion 12 is provided with the second groove 122；Preferably, the second groove 122 extends along the longitudinal direction of connecting portion 12
And one end open, the first groove 121 passes through the second groove 122, and the notch of the second groove 122 is downward, so that connecting portion 12 is set
It puts at the top of the first bar portion 11；Optionally, the cross section of the second groove 122 is rectangle.
First bar portion 11 the upper surface of is provided with the second bar portion 13, and the second bar portion 13 can be compared with moving down in the first bar portion 11
It is dynamic.Preferably, the top of the first bar portion 11 sets fluted (being not marked in figure), to accommodate the second bar portion 13.
Second bar portion 13 can be moved downward to inside the first bar portion 11, so that connecting portion 12 can be slided along the first bar portion 11；
And second bar portion 13 can move upward out the first bar portion 11, the second groove 122 is abutted, so that connecting portion 12 is with the first bar portion
11 edges push the moved longitudinally back of bar unit 1.When being moved downward to the first 11 inside of bar portion so as to the second bar portion 13, connecting portion
12 from the second bar portion 13 influence, can be slided along the first bar portion 11；When second bar portion 13 moves upward out the first bar portion 11, the
Two bar portions 13 abut connecting portion 12 by the second groove 122, and connecting portion 12 is made to be moved backward with the first bar portion 11；So as to push strut
When unit 1 is subject to during barrier impacts namely the first bar portion 11 is subject to barrier impacts, so that the first bar portion 11 is along push strut list
Member 1 it is moved longitudinally back, and then so that connecting portion 12 drives two hand units 2 to be gathered in camber line forward, consequently facilitating two
A hand unit 2 captures, impacts barrier.
In the alternative of the present embodiment, slide bar unit 5 includes the first supporting item 51 being fixedly connected with chassis 3.
Be provided with the first spring 6 between first bar portion 11 and the first supporting item 51,12 and first supporting item 51 of connecting portion it
Between be provided with second spring 61.
Push bar unit 1 along push bar unit 1 it is moved longitudinally back when, the first spring 6 and second spring 61 have order
First bar portion 11 and connecting portion 12 are respectively along the advanced longitudinally forward trend for pushing bar unit 1；That is, pass through the first bullet
The elastic restoring force of spring 6 and second spring 61 can drive the first bar portion 11 and connecting portion 12 to recover first in stroke front end
Beginning position.
Further, slide bar unit 5 further includes the second supporting item 52 and guide rod 53；Second supporting item 52 is fixed with chassis 3
Connection；53 one end of guide rod is fixedly connected with the first supporting item 51, and the other end is fixedly connected with the second supporting item 52；First bar portion, 11 sliding sleeve
On guide rod 53.Slide bar unit 5 is fixed on chassis 3 by the first supporting item 51 and the second supporting item 52, so as to the first bar
It is moved compared with chassis 3 along guide rod 53 in portion 11.
Bar unit 1 is pushed in the present embodiment and further includes the first connector 14 and stop block 15；
First connector, 14 one end is hinged the second bar portion 13, other end hinged stop block 15；The centre of first connector 14
Hinged first bar portion 11；Will pass through with 11 hinged place of the first bar portion as fulcrum, the second bar portion 13 and stop block 15 is made to form thick stick
Bar acts on.
First bar portion 11 is provided with the 3rd groove 111, and stop block 15 can be compared in the first bar portion 11 along the 3rd groove 111
Lower slider；By the 3rd groove 111, so as to longitudinal synchronizing moving of 15 and first bar portion 11 of stop block along pushing bar unit 1.
The upper surface on chassis 3 is fixedly connected with non return part 31；The top of non return part 31 is provided with to be adapted with stop block 15
Sawtooth 311；Sawtooth 311 is used to prevent stop block 15 along the advanced longitudinally forward of pushing bar unit 1.
Second bar portion 13 is for when being moved down compared with the first bar portion 11, stop block 15 to be upward compared with the first bar portion 11
It is moved in the 3rd groove 111, so that stop block 15 and non return part 31 are not had an effect, and then the first bar portion 11 is along push strut list
Member 1 longitudinal direction can freely forward, move backward；And second bar portion 13 for moved up compared with the first bar portion 11 when,
Stop block 15 is moved downward to compared with the first bar portion 11 and is contacted with non return part 31；Pass through stop block 15 and the sawtooth of non return part 31
311 contacts to prevent stop block 15 along the advanced longitudinally forward of pushing bar unit 1, and then prevent the first bar portion 11 along pushing
Bar unit 1 it is advanced longitudinally forward.
The 3rd spring 112 is provided in the present embodiment between first bar portion 11 and the second bar portion 13, the 3rd spring 112 has
The second bar portion 13 is made to be upwardly away from the trend of the first bar portion 11.Will pass through the elastic restoring force of the 3rd spring 112, second is driven
Bar portion 13 is upwardly away from the first bar portion 11, and then stop block 15 is made to be moved downward to compared with the first bar portion 11 and is connect with non return part 31
It touches, to prevent the first bar portion 11 along the advanced longitudinally forward of pushing bar unit 1.
Referring to shown in Fig. 1, Fig. 2, Fig. 8, Fig. 9, in the another alternative of the present embodiment, hand unit 2 includes planar hinge
Chain four-bar mechanism 21 and postbrachium 22；Planar pivot four-bar mechanism 21 includes the 3rd bar portion 211 and the 4th bar portion 212；3rd bar portion
211 one end hinge connection 12, the other end are hinged postbrachium 22；One end hinge connection 12 of 4th bar portion 212, other end hinge
Connect postbrachium 22；3rd bar portion 211 passes through swivel pin 4, and can be rotated with swivel pin 4.Two hand units 2 are gathered forward or backward
When holding together, planar pivot four-bar mechanism 21 is rotated around connecting portion 12, and then is changed between the 3rd bar portion 211 and the 4th bar portion 212
Distance, and then two postbrachiums 22 is driven to be gathered forward or backward；Preferably, planar pivot four-bar mechanism 21 is parallelogram
Linkage, i.e. the 3rd bar portion 211 are parallel to the 4th bar portion 212, the length of the 3rd bar portion 211 and the length of the 4th bar portion 212
It is equal, more stablize so that hand unit 2 moves.
Further, the quantity of planar pivot four-bar mechanism 21 is two；Two planar pivot four-bar mechanisms 21 are parallel, and
Connecting portion 12 and postbrachium 22 are connected respectively；More stablize so that hand unit 2 moves；Preferably, two four bar machines of plane hinge
Structure 21 is in distribution up and down.
In the another alternative of the present embodiment, hand unit 2 further includes forearm 23 and planar linkage mechanism 24；Forearm 23
Hinged with postbrachium 22, i.e., forearm 23 can be rotated compared with postbrachium 22.
Planar linkage mechanism 24 includes the 5th bar portion 241 and the 6th bar portion 242；One end of 5th bar portion 241 is hinged forearm
23, the other end is hinged the 6th bar portion 242.
Postbrachium 22 is provided with arm slot 221, and the notch of arm slot 221 is towards pushing bar unit 1, and arm slot 221 is along postbrachium 22
It extends laterally.
The shape of 6th bar portion 242 is adapted with arm slot 221, and can be moved to arm slot 221 along the extending direction of arm slot 221
It is interior, so that forearm 23 is rotated around postbrachium 22 towards bar unit 1 is pushed.By planar linkage mechanism 24 to control forearm 23 around postbrachium
22 rotations after i.e. the 6th bar portion 242 is subject to barrier collision, shock, make the 6th bar portion 242 be moved along the extending direction of arm slot 221
It moves to arm slot 221, and then forearm 23 is made to be rotated around postbrachium 22 towards bar unit 1 is pushed, so that forearm 23 further firmly grasps mesh
Mark.
The 4th spring 222 is provided in the present embodiment between 6th bar portion 242 and postbrachium 22, the 4th spring 222 has order
6th bar portion 242 removes the trend of arm slot 221.Will pass through the elastic restoring force of the 4th spring 222, the 6th bar portion 242 is driven
Arm slot 221 is removed, and then forearm 23 is made to be rotated around postbrachium 22 to away from pushing bar unit 1, to open forearm 23.
In order to more be apparent from the present embodiment, robot is briefly described below and captures mechanism motion process：
Original state：It pushes bar unit and is in the front end on slide bar unit；Second bar portion is extensive in the elasticity of the 3rd spring
Under multiple power effect, the first bar portion is moved upward out, abuts the second groove, and then abuts connecting portion, connecting portion can be made with the first bar
Portion moves backward；Meanwhile second bar portion stop block is made to be moved downward to compared with the first bar portion contact with non return part, and then prevent
First bar portion is advanced longitudinally forward along pushing bar unit.
When robot, which captures mechanism, is in original state, push bar unit and be subject to other side's life tower, other side robot etc.
The shock of barrier, afterwards, the first bar portion are moved backward along slide bar unit, and then connecting portion pushes bar unit with the first bar portion edge
It is moved longitudinally back so that two hand units are gathered forward in camber line, impact or have in arms other side's life tower, other side's machine
The barriers such as people；If at this point, the 6th bar portion is subject to barrier to collide, after shock, even extending direction of the 6th bar portion along arm slot
Be moved in arm slot so that forearm around postbrachium towards push strut finite element rotation, forearm is made further to firmly grasp other side's life tower, other side
The barriers such as robot.During being somebody's turn to do, stop block contacts always with non return part, i.e. the first bar portion can along the longitudinal direction for pushing bar unit
To move backward, but cannot move forward.
Robot captures two hand units impact of mechanism or has the barriers such as other side's life tower, other side robot in arms
Afterwards, the second bar portion can be made to be moved downward to inside the first bar portion by external force, makes stop block away from non return part, and then connecting portion
It can be respectively along the advanced longitudinally forward of pushing bar unit with the first bar portion；I.e. in the first spring and the elastic restoring force of second spring
Driving under, the first bar portion and connecting portion are along pushing the advanced longitudinally forward of bar unit；Certainly, if because barrier makes the first bar
Portion cannot along push bar unit it is advanced longitudinally forward when, connecting portion, can edge under the driving of the elastic restoring force of second spring
Push the advanced longitudinally forward of bar unit；And then so that two hand units are gathered backward, discharge, unclamp other side's life tower, is right
The barriers such as square robot perform new instruction so that robot captures mechanism, find new capture target.Hand unit is released
After putting, unclamping barrier, the 6th bar portion removes arm slot, passes through planar linkage under the driving of the elastic restoring force of the 4th spring
Mechanism makes forearm around postbrachium to separate push strut finite element rotation, so as to open forearm.
Further, when pushing bar unit is in the front end on slide bar unit, external force is removed, so that the second bar portion exists
Under the elastic restoring force effect of 3rd spring, the first bar portion is moved upward out, and then robot captures mechanism and is returned to initial shape
State.
Finally it should be noted that：The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe is described in detail the present invention with reference to foregoing embodiments, it will be understood by those of ordinary skill in the art that：Its according to
Can so modify to the technical solution recorded in foregoing embodiments either to which part or all technical characteristic into
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is not made to depart from various embodiments of the present invention technology
The scope of scheme.
Claims (9)
1. a kind of robot captures mechanism, which is characterized in that including pushing bar unit, two hand units and chassis；Described two
A hand unit is hinged respectively with the pushing bar unit, and is symmetrical arranged along the longitudinal axis center line of the pushing bar unit；
The upper surface on the chassis is connected with swivel pin, and the swivel pin can be rotated compared with the chassis；The hand unit
It is some or all of can be rotated with the swivel pin, and can be slided compared with the swivel pin；
The upper surface on the chassis is fixedly connected with slide bar unit；The pushing bar unit is slided on the slide bar unit；
The bar unit that pushes can posteriorly or anteriorly be moved along the longitudinal direction of the pushing bar unit on the slide bar unit, with
The hand unit is made to be slided along the swivel pin and drives the swivel pin rotation, the hand unit to be driven to be pushed away around described
Compression bar finite element rotation, so that described two hand units are gathered forward or backward in camber line.
2. robot according to claim 1 captures mechanism, which is characterized in that the pushing bar unit includes the first bar portion
With the connecting portion at the top that is arranged on first bar portion；First bar portion is slided on the slide bar unit, the connection
Portion is respectively articulated with described two hand units；
The connecting portion is provided with the first groove, and first groove is connected with first bar portion；The connecting portion can
It is slided along the longitudinal direction of the pushing bar unit in first bar portion；
The connecting portion is provided with the second groove；Described first bar portion the upper surface of is provided with the second bar portion, and second bar portion can
It is moved up and down compared with first bar portion；
Second bar portion can be moved downward to inside first bar portion, so that the connecting portion can be slided along first bar portion
It is dynamic；
And second bar portion can move upward out first bar portion, second groove be abutted, so that the connecting portion
With first bar portion the moved longitudinally back of bar unit is pushed along described.
3. robot according to claim 2 captures mechanism, which is characterized in that the slide bar unit includes and the chassis
The first supporting item being fixedly connected；
The first spring, the connecting portion and first supporting item are provided between first bar portion and first supporting item
Between be provided with second spring；
It is described push bar unit along the pushing bar unit it is moved longitudinally back when, first spring and the second spring
With make first bar portion and the connecting portion respectively along it is described pushing bar unit advanced longitudinally forward trend.
4. robot according to claim 3 captures mechanism, which is characterized in that the slide bar unit further includes the second support
Part and guide rod；Second supporting item is fixedly connected with the chassis；
The guide rod is fixedly connected with first supporting item, and the other end is fixedly connected with second supporting item；
First bar portion is slided on the guide rod.
5. robot according to claim 3 captures mechanism, which is characterized in that the pushing bar unit further includes the first company
Fitting and stop block；
Described first connector one end is hinged second bar portion, and the other end is hinged the stop block；First connector
Hinged first bar portion in centre；
First bar portion is provided with the 3rd groove, and the stop block can be compared in first bar portion along the 3rd groove
Lower slider；
The upper surface on the chassis is fixedly connected with non return part；It is provided at the top of the non return part and is adapted with the stop block
Sawtooth；The sawtooth is used to prevent the stop block along the advanced longitudinally forward of the pushing bar unit；
Second bar portion is for when being moved down compared with first bar portion, the stop block to be compared with first bar portion
It is moved upward in the 3rd groove；And second bar portion for moved up compared with first bar portion when, institute
It states stop block and is moved downward to compared with first bar portion and contacted with the non return part.
6. robot according to claim 3 captures mechanism, which is characterized in that first bar portion and second bar portion
Between be provided with the 3rd spring, the 3rd spring has the trend that second bar portion is made to be upwardly away from first bar portion.
7. mechanism is captured according to claim 2-6 any one of them robot, which is characterized in that the hand unit includes flat
Face four-bar linkage and postbrachium；The planar pivot four-bar mechanism includes the 3rd bar portion and the 4th bar portion；3rd bar portion
One end be hinged the connecting portion, the other end is hinged the postbrachium；One end of 4th bar portion is hinged the connecting portion, another
The hinged postbrachium in end；3rd bar portion passes through the swivel pin, and can be rotated with the swivel pin.
8. robot according to claim 7 captures mechanism, which is characterized in that the quantity of the planar pivot four-bar mechanism
For two；Two planar pivot four-bar mechanisms are parallel, and connect the connecting portion and the postbrachium respectively.
9. robot according to claim 7 captures mechanism, which is characterized in that the hand unit further includes forearm peace
Face linkage；The forearm is hinged with the postbrachium.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352381.XA CN108081313A (en) | 2017-12-15 | 2017-12-15 | Robot captures mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711352381.XA CN108081313A (en) | 2017-12-15 | 2017-12-15 | Robot captures mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108081313A true CN108081313A (en) | 2018-05-29 |
Family
ID=62176013
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711352381.XA Pending CN108081313A (en) | 2017-12-15 | 2017-12-15 | Robot captures mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108081313A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020106807A1 (en) * | 2018-11-20 | 2020-05-28 | Divergent Technologies, Inc. | Selective end effector modular attachment device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204868911U (en) * | 2015-09-06 | 2015-12-16 | 华北电力大学 | Mechanism is caught by robot |
| CN107379013A (en) * | 2017-09-12 | 2017-11-24 | 李从宾 | A kind of special mechanical arm of intelligent robot |
-
2017
- 2017-12-15 CN CN201711352381.XA patent/CN108081313A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN204868911U (en) * | 2015-09-06 | 2015-12-16 | 华北电力大学 | Mechanism is caught by robot |
| CN107379013A (en) * | 2017-09-12 | 2017-11-24 | 李从宾 | A kind of special mechanical arm of intelligent robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020106807A1 (en) * | 2018-11-20 | 2020-05-28 | Divergent Technologies, Inc. | Selective end effector modular attachment device |
| US11504912B2 (en) | 2018-11-20 | 2022-11-22 | Divergent Technologies, Inc. | Selective end effector modular attachment device |
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